Suspension system for minimally invasive surgery

ABSTRACT

A suspension system for supporting surgical devices inside a patient&#39;s body cavity comprising an external frame, a plurality of elongated members extending from the external frame and through the patient&#39;s skin into the body cavity, and an internal platform located inside the body cavity. The internal platform includes a plurality of links reconfigurable from a first elongated position wherein the links are substantially aligned along a longitudinal axis for insertion to a second position wherein the links are angled with respect to one another to form a non-linear configuration. A first support of the external frame is movable with respect to the second support to thereby move the internal platform.

CROSS REFERENCE TO RELATED APPLICATION

The present application is a continuation of U.S. patent applicationSer. No. 13/209,529, filed Aug. 15, 2011, and claims the benefit of andpriority to U.S. Provisional Application Ser. No. 61/411,515, filed onNov. 9, 2010, the entire contents of which are incorporated herein byreference.

TECHNICAL FIELD

This application generally relates to the field of minimally invasivesurgery. More particularly, the present disclosure relates to a systemfor supporting a plurality of instruments for minimally invasivesurgery.

RELATED ART

Laparoscopy is a minimally invasive surgical procedure performed in theabdominal cavity. It has become the treatment of choice for severalroutinely performed interventions.

However, known laparoscopy technologies are limited in scope and may beunduly complex due in part to 1) mobility restrictions resulting fromusing rigid tools inserted through access ports, and 2) limited visualfeedback. That is, long rigid laparoscopic tools inserted through smallincisions in the abdominal wall or other regions of laparoscopic surgerylimit the surgeon's range of motion and therefore may increase thecomplexity of the surgical procedures being performed. Similarly, usinga 2-D image from a typically rigid laparoscope inserted through a smallincision limits the overall understanding of the surgical environment.Further, in many current surgical procedures, an additional port isrequired to accommodate a laparoscope (camera), and a port is requiredfor each instrumentation insertion, requiring an additional incisionwhich increases the risk of infection and lengthens patient recoverytime. Single port laparoscopic surgery can have restricted instrumentmobility.

There is a continuing need in the art for improved surgical methods,systems, and devices for laparoscopic and other minimally invasivesurgery.

SUMMARY

The present disclosure pertains to a suspension system for supportingsurgical instruments for use inside a body cavity in a minimallyinvasive surgical procedure, and particularly in a laparoscopicprocedure. The suspension system comprises an external frame having afirst support and a second support, a plurality of elongated membersextending from the external frame and into the body cavity, and aninternal platform located inside the body cavity. The internal platformincludes a plurality of links reconfigurable from a first elongatedposition wherein the links are substantially aligned along alongitudinal axis for insertion to a second position wherein the linksare angled with respect to one another to form a non-linearconfiguration. The first support is movable with respect to the secondsupport to thereby move the internal platform.

In one embodiment, the first support includes an elongated arm pivotablyattached to the second support for movement toward and away from thebody cavity. In another embodiment, the first support includes anelongate arm rotatably attached to the second support for rotation abouta longitudinal axis of the second support.

The external frame can include first attachment structure for connectingthe elongated members at the proximal portion and the links can includesecond attachment structure to receive the distal portion of theelongated members. The links can having mounting structure for mountinga surgical device thereto and can be pivotally attached to one another.One of the links can have tool attachment structure for detachableconnection to an insertion tool.

In one embodiment, the first support is pivotable from a positionsubstantially horizontal to overlie the patient to a positionsubstantially vertical with respect to the patient.

In another aspect, the present disclosure provides a suspension systemfor supporting surgical devices inside a patient's body cavitycomprising an external frame having a first plurality of holes extendingtherethrough and attached to a support for movement toward and away fromthe body cavity, a plurality of rods extending from the frame sized toat least partially extend through one of the plurality of holes, and aninternal platform including a series of interconnecting links having atleast one hole sized to receive one of the rods therethrough.

The links can include an attachment structure located along the bodythereof. The system may further comprise a pod having a complementaryattachment structure to an attachment structure of the links. In someembodiments, the external frame is pivotably connected to the rigidsupport.

Preferably, the links are insertable into the body cavity in a generallyelongated position and are reconfigured to an angular position withinthe body cavity.

The present disclosure also provides in another aspect a suspensionsystem for supporting surgical devices inside a patient's body cavitycomprising a substantially rigid external frame positioned outside thebody and movably connected to a support for movement with respect to thebody cavity, a plurality of elongated connectors extending from theexternal frame into the body cavity, and an internal support locatedinside the body cavity and attached to the elongated connectors. Theelongated connectors are movable to apply a retraction force on aportion of the internal support to change the plane of the portion withrespect to other portions of the support.

The internal support preferably includes a plurality of linksreconfigurable from a first elongated position wherein the links aresubstantially aligned along a longitudinal axis for insertion to asecond position wherein the links are angled with respect to one anotherto form a non-linear configuration for attachment to the elongatedconnectors.

Preferably, the internal support has instrument receiving structure tomount surgical instruments thereto.

In another aspect, the present disclosure provides a method forproviding a platform for surgical instruments for performing minimallyinvasive surgery, the method comprising the steps of:

-   -   providing an external frame;    -   inserting the elongated members into a body cavity of a patient;    -   connecting elongated members to the external frame;    -   inserting through a different site an internal platform        configured in a substantially linear configuration;    -   reconfiguring the internal platform inside the body cavity to a        non-linear configuration;    -   joining the elongated members and the platform inside the body        cavity; and    -   moving the external frame to move the internal platform within        the body cavity.

The step of reconfiguring the platform can include the step of pivotinga series of links with respect to one another. The method may furthercomprise the step of placing a pod within the body cavity and attachingthe pod to one of either the internal platform and one of the elongatedmembers.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and form part ofthe specification, illustrate the present disclosure when viewed withreference to the description, wherein:

FIG. 1 is a perspective view of a suspension system in accordance withthe principles of the present disclosure, illustrating an external framestructure, a plurality of rods, and an internal platform;

FIG. 2 is an exploded view of the external frame structure and theplurality of rods;

FIG. 3 is an exploded view of the internal platform and an insertiontool for the platform:

FIG. 4 is a side cross-sectional view of the suspension system of FIG. 1taken along section line 4-4 of FIG. 1;

FIG. 5 is a perspective view of the internal platform in a fullyextended (elongated) position for insertion to the body cavity;

FIG. 6 is a perspective view of the internal platform in a partiallyangled (pivoted) position;

FIG. 7 is a partially cut away view of the suspension systemillustrating insertion of the internal platform inside a body cavity;and

FIG. 8 is a partially cut away view of the suspension system including acamera and an illumination source attached to the internal platform.

FIG. 8 A is a partially cut away view of an alternate embodiment of thesuspension system illustrating pivoting of the external frame structureand showing insertion of the internal platform inside a body cavity;

FIG. 9 illustrates movement of the external frame structure to avertical position;

FIG. 10 is a partially cut away view of an alternate embodiment of thesuspension system illustrating a swivel attachment of the external frameto rotate the external frame away from the patient.

FIG. 11 is a partially cut away view of another alternate embodiment thesuspension system including a camera and an illumination source attachedto the internal platform and showing in phantom movement (exaggeratedfor clarity) of the connecting rods; and

FIG. 12 is a partially cut away view of the suspension system of FIG. 11including a camera and an illumination source attached to the internalplatform and showing pivoting of the external frame.

Other features of the present disclosure will become apparent from thefollowing detailed description, taken in conjunction with theaccompanying drawings, which illustrate, by way of example, theprinciples of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the presently disclosed suspension system are describedin detail with reference to the drawings, in which like referencenumerals designate identical or corresponding elements in each of theseveral views. As used herein, the term “distal” refers to that portionof the suspension system, or component thereof, further from the userwhile the term “proximal” refers to that portion of that portion of thesuspension system or component thereof, closer to the user.

Referring now to the drawings, wherein like reference numerals identifysimilar structural elements of the subject system, there is illustratedin FIG. 1 a suspension system, designated generally by reference numeral10 which forms a stable rigid platform for surgical devices. Thesuspension system also enables pivoting movement of the surgical devicesin the manner described below.

The suspension system 10 includes an external frame structure 20, aplurality of elongated members or rods 40, and an internal platform 60.As shown in FIG. 7, the external frame structure 20 has a clamp 23, avertical arm 21, and a horizontal arm 22. The clamp 23 is located at alower end 24 of the vertical arm 21. The clamp is preferably configuredto mount to the rail R of the operating table. The arms 21, 22 can bemonolithic/integral or separate attached components. The horizontal arm22 extends from an upper end 25 of the vertical arm 21 to overlie thepatient.

In alternate embodiments, instead of vertical and horizontal arms, thearms can be curved. Additionally, a single curved or angled arm couldalternatively be provided.

The arm(s) can be attached to the rail of the operating table, mountedto the floor, or mounted to other structure.

It is also contemplated that the arms 21 and 22 (or other alternatearms) could be pivotally or hingedly joined to one another. It will beunderstood that throughout this specification such joints betweenvarious members could be joints with additional degrees of rotational ortranslational freedom such as ball joints, telescoping joints and thelike. This would enable the external platform 27 of the external framestructure 20 to be positioned at various angles with respect to thepatient. For example, the platform 27 could be positioned generallyhorizontal with respect to the patient as shown in FIG. 7 as well aspivoted to acute angles or even pivoted to the side of the patient to avertical position. Examples of systems with such movement are describedbelow with reference to FIGS. 8A-12. Such adjustability would increasethe versatility of the system. Locking mechanisms could also be providedto lock the arm in the desired angular position.

Referring back to FIGS. 1, 2 and 7, a plurality of threaded throughholes 26 are formed in platform (mounting region 27) of horizontal arm22 which is located at an opposite end from the vertical arm 21. Notethat platform 27 can be pivotally or hingedly attached to arm 22 or canbe integral/monolithic with arm 22. The platform 27 forms an externalsupport. As shown, platform 27 is a substantially triangular regionwhich supports the internal platform 60 in a substantially triangularconfiguration to support and maneuver surgical devices in the mannerdescribed below. Although shown as substantially triangular, otherconfigurations are also contemplated, e.g. circular, oval, rectangularand other polygons.

Each of the plurality of threaded holes 26 of the region 27 are sized toprovide passage of one of the rods (elongated members) 40 therethroughwhich secure the internal platform 60 (FIG. 1). As shown, the holes 26are spread apart and preferably positioned at the vertices of thetriangular region 27. Positioning in other areas is also contemplated asare a fewer or greater number of holes 26 to accommodate a differentnumber of rods 40 if desired.

With reference to FIG. 2, each rod 40 includes a proximal portion 42, adistal portion 41, and a rod body 43 therebetween. Attached to theproximal portion 42 of the rod 40 is a knob 50 that mates with arestricted (reduced diameter) section 45 of the rod 40. The knob 50 mayhave a gripping surface 51 that increases the surface area and creates aleverage point for rotational interaction. For clarity, only one of thethree rods 40 is fully labeled. Rotation of the knob 50 threading!}′(and removably) attaches the rod 40 to the internal platform 60 viaengagement of threads 46 on the distal end of the rod 40 with theplatform openings as described below.

A circumferential groove 44 is located in an intermediate region of therod body 43, i.e. distal of the knob 50 and proximal of the distalportion 41. The groove 44 is sized to accept a retaining ring 30. Thecombination of the knob 50 and the retaining ring 30 restricts axialmovement of the rod body 43 within a central aperture 56 of screw 55,while allowing rotational movement. Rod 43 is rotated to thread into theinternal platform 60 in the manner described below.

Each screw 55 has external threads 57 that mate with one of theplurality of internally threaded holes 26 in the external platformregion 27 of frame structure 20. The screw 55 preferably includes knurls58 to provide rotational interaction for threading the screw 55 into theholes 26. Screw 55 can be used to advance or retract the rod 40 whichmoves the internal platform 60 as described in detail below. That is,rotation of screw 55 in a first direction, presses knob 50 in an upwarddirection to lift the associated (connected) region of the internalplatform 60. Rotation of screw 55 in an opposite direction pressesretaining ring 30 in a downward direction to return the associated(connected) region of the internal platform 60 to its original position.Thus, the range of movement in this embodiment is defined as a distancebetween these components which in one embodiment can be about 0.5inches, although other distances are also contemplated. This adjustmentallows a microadjustment of the platform position by warping any or allof the rods 40.

Now referring to FIGS. 3, 5, and 6, the internal platform 60 includes aseries of interconnecting links 61 having a first mating end 62, asecond mating end 63, and a link body 64 therebetween. These links forma rigid support inside the patient's body cavity. In the illustratedembodiment, three links 61 are provided to form a substantiallytriangular region. However, a different number of links can be providedand the links can be arranged in different shapes, e.g. circular, oval,rectangular or other shapes including other polygonal shapes. Each end62 of link 61 is connectable with the end 63 of another of the series oflinks 61. Each of the series of interconnecting links 61 has a pair ofholes 65. One of the pair of holes 65 is located at each end of the link61, e.g. in the end 63 and end 62. Each of the pair of holes 65 providespassage of the threaded section 46 of the rod 40 therethrough to enablethe rod 40 to be removably attached to the platform 60 and enable therod 40 to be rotated to change the plane of the associated link 61 andthereby change the plane of the internal platform 60.

The internal platform 60 includes two different sized bushings: a longerbushing 67 and a shorter bushing 68. The longer bushing 67 connects theends 62 and 63 of at least two links 61 together by an interference fitto form the series of links 61 in a non-linear configuration, such asthe illustrated substantially triangular configuration. The shorterbushing 68 extends only through the initial hole 65 in the series oflinks 61. Each of the bushings 67 and 68 may have a complementary threadto that of the threaded section 46 of the rod 40 that allows the rod 40to be secured to the internal platform by rotation of the knob 50.Alternatively, it is also contemplated that the bushings 67 and 68 beunthreaded and that a separate nut (not shown) is used to secure theplatform 60 to the rod 40. Further contemplated are the use of snaptogether links (not shown).

Each of the links 61 can include a slot 66 located along the link body64 thereof, and extending longitudinally along the link 61, which canaccommodate a pull cable for pivoting the links.

The suspension system 10 includes a pod 110 (FIG. 8) with acomplementary attachment structure 115 that provides attachment to thelinks 61. The attachment structure can include a threaded structure, asnap on feature, one or more magnets, or other structure. The pod 110may include a surgical instrument that is a visualization device such asa camera 111 or an illumination source 112. Other surgical instrumentsthat are contemplated include, but are not limited to, a grasper, aretractor, and a sensor.

Now referring to FIG. 4, at least one of the rods 40 may contain anelectrical conduit 101 that may be connected with a second electricalconduit 102 located in at least one of the links 61. Each of theconduits 101, 102 has an electrical connector 103 on each end of theconduit. The connectors 103 may be either internal to the components 40,61, or the connectors may be located external to the components 40, 61.The electrical conduits 101, 102, in combination with the electricalconnector 103, provide communication between a remote control unit (notshown) and instruments coupled to the internal platform 60.Specifically, these electrical connections may provide one or more ofthe following: (a) electrical power; (b) control signals; and (c)optical information (e.g. light and/or video signals).

Other arrangements of the electrical connectors are also contemplated.For example, the connectors can be coaxially positioned in a single rod,they can be positioned in separate rods, or can be positioned parallelwithin a non-conductive rod.

At least one of the links 61 preferably has a tool receiving section 70(FIGS, 5 and 6) for placing the internal platform 60 within the bodycavity. The insertion tool receiving section 70 may have cither internalor external threads 71 that mate with the end of a tool or driver 200for placement of the internal platform 60 through a cannula 105, asshown in FIG. 7. Alternatively, other disengagable retention structurefor tool 70 and link 61 can be provided such as a bayonet lock.

For delivery, the links 61 are in an elongated position, substantiallyaligned with the longitudinal axis passing through the series of links.In this substantially linear position, they can be delivered through atrocar or access port inside the body cavity (see e.g. cannula 105 ofFIG. 7). Once delivered, the links 61 are manipulated to a secondposition, wherein the links 61 are pivoted to an angular or non-linearposition, and preferably form a substantially triangular configuration.This region preferably corresponds to the region 27 of arm 22 ofexternal frame structure 20. In this manner, the openings 65 in thelinks 61 are substantially aligned with holes 26 of platform region 27for reception of elongated rods 40.

The links 61 can be pivoted by the delivery tool 200 in a hinge likemanner to form the triangular shape (or other shapes). Alternatively, apull wire (not shown) can be provided within a slot 66 in the linkswhich is tensioned to pivot the links to their angled mounting position.In another variation, the links are spring loaded to a substantiallytriangular or other non-linear position and a wire extending through thelinks maintains the links in an elongated position. As the wire isretracted from the links, the links return to their spring biasedposition.

The elongated rods 40 are attached to the internal platform region 27 ofthe external frame 20 as described above. Consequently, at least thedistal portions of the rods 40 extend within the body cavity. As shown,the rods 40 extend substantially parallel to one another as they extendinto the body cavity, although the internal platform 60 couldalternatively enable mounting of the instruments in angled positions.

With the rods 40 extending into the body cavity, when the links 61 aredelivered, the opening in the distalmost link 61 is mated with thedistal threaded portion 46 of a rod 40. The insertion tool 200 is thenmanipulated to pivot the intermediate link 61 b with respect to thedistalmost link 61 and then attached to a second rod 40. The proximallink 61 is then pivoted with respect to the intermediate link, forattachment to the third elongated rod 40, thus forming theaforedescribed substantially triangular shape. The insertion tool 200can then be withdrawn through the cannula 105, leaving the cannula 105free for insertion of other instruments. A laparoscopic imaging device,e.g. a camera, wired or cordless, can then be inserted for examplethrough cannula 105 and attached to the internal platform 60 asdescribed above. An illumination device can also be inserted through thecannula 105 and attached to the internal platform 60. This is shown inFIG. 8. A third device can be inserted through cannula 105 and attachedto the internal frame as well. Note that instruments other than or inaddition to the camera and illuminator can be inserted and attached tothe internal frame 60. In embodiments with additional attachmentstructure, more devices can be inserted and attached.

Once mounted, the instruments can be maneuvered by manipulation of therods 40. More specifically, rotation of the screw 55 in a firstdirection will cause retraction of the rod 40 which in turn will causeretraction of the link 61 to which it is attached. As the links areconnected in a substantially triangular region, such retraction causesthe respective vertex of the internal platform 60 to retract as theother vertices remain stationary, thereby lifting a portion of theinternal platform 60 out of the plane. As can be appreciated, any one ofthe vertices can be moved with respect to the other two, as well as twoof the vertices can be moved with respect to the other vertices, thusproviding a conical shaped range of movement. In this manner,maneuverability of the instruments is achieved while maintaining astable and substantially rigid suspension system as the internalplatform 60 is connected to the external platform 27 which is mounted tothe operating table (or the floor).

In embodiments wherein the external platform 27 is movably, e.g.pivotably, mounted to an external supporting frame, the screws 55 can beused for fine adjustment of internal platform 60 and the pivotalmovement of the external platform 27 used for coarse adjustment as thepivotal movement will move the respective rod(s) 40 which in turn willmove the internal platform 60. Such pivotable mounting is illustrated inFIGS. 8A-12.

FIGS. 8A-12 illustrate embodiments of the suspension system providingfor pivotable or rotatable movement of the external frame, or portionthereof. Turning first to FIG. 8A, the suspension system 110 isidentical to the suspension system 10 of FIG. 1 except for theattachment of the platform. More specifically, the suspension system210, like suspension system 10, includes an external frame structure220, a plurality of elongated members or rods 240 with knobs 250 andscrews 255, and an internal platform 260. The internal platform 260includes a series of interconnecting links 261 identical to links 60 ofthe embodiment of FIG. 1. For brevity, details of the structure andfunction of these components of FIG. 8A will not be repeated herein asthey are identical to that described above in the embodiment of FIGS.1-8. Only the differences between the embodiment of FIG. 8A and FIG. 1will be discussed. The difference is in the attachment of horizontal arm222 to vertical arm 221.

More specifically, horizontal arm 222 is pivotably attached to verticalarm 221 at hinge 223. This enables the horizontal arm 222 to pivot inthe direction of the arrow of FIG. 8A which in turn moves the externalplatform 227. One such pivoted position is illustrated in phantom inFIG. 8A, it being understood that preferably various angled positionscan be achieved. Further, as previously discussed, the hinge may be aball and socket joint allowing additional angular adjustments.Preferably the hinged structure maintains the external platform 227 inthe selected angled position. However, mechanisms to lock the externalplatform 227 in a selected position are also contemplated. Movement ofthe external platform 227 moves the connected rods 240 which in turnmove the connected internal platform (links 260) to change the angle ofthe instrumentation attached to the internal platform.

The foregoing structure can also be provided such that the horizontalarm 222 can be pivoted from a horizontal position overlying thepatient's incision to a vertical position, substantially aligned with alongitudinal axis of the vertical arm 221 as shown in FIG. 9. This canmove the system away from the patient and out of the way of the surgeonuntil positioning over the patient is desired.

In another alternate embodiment illustrated in FIG. 10, suspensionsystem 310 is identical to suspension system 10 of FIG. 1 except for thepivoting attachment of horizontal arm 322 to vertical arm 321. Thus, thesuspension system 310, like suspension system 10, includes an externalframe structure 320, a plurality of elongated members or rods 340 withknob 350 and screw 355, and an internal platform 360. The internalplatform includes a series of interconnecting links 361 identical tolinks 60 of the embodiment of FIG. 1. For brevity, details of thestructure and function of these components will not be repeated hereinas they are identical to that described above in the embodiments ofFIGS. 1-8. Only the differences between the embodiment of FIG. 10 andFIG. 1 will be discussed. The difference is in the attachment ofhorizontal arm 322 to vertical arm 321.

Pivot fastener 329 enables the horizontal arm 322 to be rotated(swiveled) in the direction of the arrow to pivot about a longitudinalaxis of the vertical arm 321. Such pivotal movement of the externalplatform 327 moves the internal platform 360, thereby changing thelateral position of the instruments attached to the internal platform327. As shown in FIG. 10, the horizontal arm 322 can be pivoted(swiveled) a sufficient amount to move the suspension system 210 out ofthe way of the surgeon. Rotation of 360 degrees or less is contemplated.The pivot can be configured so the horizontal arm 322 remains in theselected position. The pivot can also be configured so that the arm 322can also move up and away from patient and down toward the patient.

The alternate embodiment of FIGS. 11 and 12 are identical to FIG. 1except that the hinge 423 for enabling pivoting of the external platform427 is at the end of the horizontal arm 422. Otherwise, the suspensionsystem 410 is identical to suspension system 10 and includes an externalframe structure 420 with external platform 427, a plurality of elongatedmembers or rods 440 with knobs 450 and screws 455, and an internalplatform 460. The internal platform 460 includes a series ofinterconnecting links 461 identical to links 60 of the embodiment ofFIG. 1. For brevity, details of the structure and function of thesecomponents will not be repeated herein as they are identical to thatdescribed above in the embodiments of FIGS. 1-8. Only the differencesbetween the embodiment of FIG. 11 and FIG. 1 will be discussed. Thedifference is in the attachment of external platform 427 to horizontalarm. FIG. 11 illustrates in phantom a pivoted position of the elongatedrods 440 (as a result of pivoting external platform 427) which in turnwould pivot the internal platform 460 to change the position of theinstruments extending therefrom.

The systems described herein also provide reference points to measurethe position and orientation of the instrument. For example, measurementlines can be provided on the screw 55 to measure the lift or angle ofthe internal platform. A transducer at the screw 55 can also be used formeasurement.

The present disclosure also relates to a method for providing a stableplatform for surgical instruments for performing minimally invasivesurgery, e.g. laparoscopic surgery. In the method, which by way ofexample describes the system of FIG. 1, it being understood that theother systems would be used in a similar manner, elongated members orrods 40 are connected to the external frame 20 and are inserted into abody cavity of a patient. The internal platform 60 is inserted through adifferent port site in a substantially straight position. The internalplatform is then reconfigured inside the body cavity to a non-linearconfiguration and the elongated members (segments) arc joined to theplatform inside the body cavity.

It is also contemplated that instead of having the elongated memberslinked together outside the body, they can be inserted one at a timethrough a port site and connected to each other in situ to form thedesired internal platform shape.

The suspension system 10 may be provided in either kit form or asindividual pieces.

After the selected instruments are coupled to the internal platform 60,the physician performs the desired surgical procedure in the workingspace. Once the surgical procedure is completed, the physician removesthe surgical instruments and the platform 60 by reversing theabove-described installation technique. Note that the surgeon can pivotthe external platform to change the position of the internal platformwhich in turn alters the angle of the surgical instrumentation if thesystems of FIGS. 8A-12 are utilized.

It will be understood that various modifications may be made to theembodiments disclosed herein. For example, the size, angles, curves,and/or attachment means of the component(s) surface(s) may be modifiedto better suit a particular surgical procedure. Therefore, the abovedescription should not be construed as limiting, but merely asexemplifications of various embodiments. Those skilled in the art willenvision other modifications within the scope and spirit of the claimsappended hereto.

1-20. (canceled)
 21. A suspension system for supporting surgical deviceswithin a body cavity of a patient comprising: an external frame; aplurality of elongated members extending from the external frame; and aninternal platform operatively associated with the plurality of elongatedmembers, the internal platform including a plurality of links pivotallycoupled to each other, the plurality of links reconfigurable between afirst position in which the plurality of links define a linearconfiguration and a second position in which the plurality of linksdefine a non-linear configuration.
 22. The suspension system of claim21, wherein the external frame includes a first support and a secondsupport, the first support pivotably attached to the second support toenable movement of the second support toward and away from the bodycavity.
 23. The suspension system of claim 21, further including aplurality of screws threadably engaging the external frame, each one ofthe plurality of screws rotatably secured with the respective one of theplurality of elongated members.
 24. The suspension system of claim 21,wherein at least one of the plurality of elongated members is adjustablyattached to the external frame.
 25. The suspension system of claim 21,wherein the external frame includes a first attachment structure forconnecting with a proximal portion of one of the plurality of elongatedmembers, and each one of the plurality of links includes a secondattachment structure configured to receive a distal portion of the oneof the plurality of elongated members.
 26. The suspension system ofclaim 21, wherein each one of the plurality of links includes a mountingstructure for mounting a surgical device thereto.
 27. The suspensionsystem of claim 21, wherein one of the plurality of elongated membersincludes an electrical conduit.
 28. The suspension system of claim 27,wherein the one of the plurality of elongated members further includesan electrical connector.
 29. The suspension system of claim 21, whereinone of the plurality of links includes an electrical conduit.
 30. Thesuspension system of claim 29, wherein the one of the plurality of linksfurther includes an electrical connector.
 31. The suspension system ofclaim 21, wherein the second position includes a triangularconfiguration.
 32. A suspension system for supporting surgical deviceswithin a body cavity of a patient comprising: an external frame; aninternal support positionable within the body cavity; and a plurality ofelongated members extending from the external frame and detachablycoupled to the internal support, wherein at least one of the pluralityof elongated members is rotatably coupled with the external frame andthe internal support to adjust a position of the internal supportrelative to the external frame.
 33. The suspension system of claim 32,wherein the external frame is connected to an operating table.
 34. Thesuspension system of claim 32, wherein the internal support has aninstrument receiving structure configured to receive a surgical devicethereon.
 35. The suspension system of claim 32, wherein the externalsupport is configured to remain in a fixed planar orientation asorientation of a portion of the internal support is adjusted.